# US 10,308,249 B2 · Adaptive cruise control system and vehicle comprising an adaptive cruise control system

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- Number: US 10,308,249 B2
- Document ID: US10308249B2
- Status: Granted
- Kind: B2
- Application number: 15/605,053
- Filed: 2017-05-25
- Published: 2017-12-07
- Granted: 2019-06-04
- Earliest claimed: 2016-06-07
- Assignees: Volvo Car Corporation
- Applicants: Volvo Car Corporation
- Inventors: Magnus Brandin; Mohammad Ali
- Web page: https://patentgrep.com/patent/US10308249B2

## CPC

- B60W 30/146: {Speed limiting}
- B60Q 1/34: for indicating change of drive direction (B60Q1/22 takes precedence)
- B60W 10/04: including control of propulsion units
- B60W 10/18: including control of braking systems
- B60W 10/20: including control of steering systems
- B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60W 50/16: Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
- B62D 15/021: {Determination of steering angle}
- B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle}
- B60W 2050/146: {Display means}
- B60W 2510/18: Braking system
- B60W 2510/20: Steering systems
- B60W 2520/10: Longitudinal speed
- B60W 2540/18: Steering angle
- B60W 2540/215: Selection or confirmation of options
- B60W 2554/801: Lateral distance
- B60W 2556/10: Historical data
- B60W 2710/18: Braking system
- B60W 2710/20: Steering systems
- B60W 2710/207: Steering angle of wheels
- B60W 2720/10: Longitudinal speed
- B60W 2754/30: Longitudinal distance
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A vehicle and an adaptive cruise control system, ACC, is provided. The ACC system includes a control unit configured to control a steering angle of said vehicle in relation to detected road lanes and/or road markings. The ACC system further includes a steering wheel arranged to allow the provision of manual steering input to the steering system of the vehicle and a steering angle sensor. The steering system is configured to identify a steering wheel jerk, performed as a clockwise- and counter-clockwise actuation of the steering wheel within a predetermined time range and to steer the host vehicle from a first, current, road lane to a second road lane based on the identified jerk as indicated by the steering angle sensor.

## Claims

### Claim 1

An adaptive cruise control system for controlling at least one of speed or steering angle of a vehicle in relation to moving or stationary objects by accelerating, retarding or steering the vehicle, said system comprising:
a vehicle throttle controller,
a vehicle braking system controller,
a steering system,
at least one object detection sensor arranged to detect moving or stationary objects and road lanes and/or road markings in a surroundings of said vehicle, and
a control unit configured to control a steering angle of said vehicle in relation to detected road lanes and/or road markings by controlling the steering system,
wherein said adaptive cruise control system further comprises:
a steering wheel arranged to allow the provision of manual steering input to the steering system of the vehicle, and
a steering angle sensor, wherein the steering system is configured to identify a steering wheel jerk, performed as a clockwise and counter-clockwise actuation of the steering wheel within a predetermined time range, by comparing data from the steering angle sensor with at least one predetermined threshold and to steer the host vehicle from a first, current, road lane to a second road lane based on the identified jerk as indicated by the steering angle sensor.

### Claim 2 (depends on 1)

The adaptive cruise control system according to claim 1, wherein a duration of the predetermined time range is less than 2 seconds.

### Claim 3 (depends on 1)

The adaptive cruise control system according to claim 1, wherein a duration of the predetermined time range is less than 1 second.

### Claim 4 (depends on 1)

The adaptive cruise control system according to claim 1, wherein a first predetermined threshold is identifiable by a first clockwise or counter-clockwise steering angle of at least (α) degrees, (α) being at least 1 degree.

### Claim 5 (depends on 4)

The adaptive cruise control system according to claim 4, wherein a second predetermined threshold is identifiable by a second steering angle of at least (β) degrees, (β) being at least 1 degree, the direction of the second steering angle being opposite the first steering angle.

### Claim 6 (depends on 5)

The adaptive cruise control system according to claim 5, wherein at least one of the first or second predetermined threshold is represented by a change in steering angle of at least 10 degrees/second.

### Claim 7 (depends on 5)

The adaptive cruise control system according to claim 5, wherein at least one of the first or second predetermined threshold is represented by a rate of change in steering angle of at least 50 degrees/s2.

### Claim 8 (depends on 1)

The adaptive cruise control system according claim 1, further comprising:
a display arrangement arranged to display a representation of road lanes or road markings in front of the host vehicle, and
an input arrangement enabling by selective input thereto, selection of a displayed representation of road lanes or road markings to be steered into.

### Claim 9 (depends on 1)

The adaptive cruise control system according to claim 1, further comprising:
turn signal indicators, wherein initiation of a lane change is confirmed via activation of a turn signal indicator.

### Claim 10 (depends on 1)

The adaptive cruise control system according to claim 1, further comprising:
a steering wheel vibration arrangement for vibrating the steering wheel, wherein initiation of a lane change is confirmed through activating the steering wheel vibration arrangement to provide haptic confirmation.

### Claim 11 (depends on 1)

A vehicle comprising an adaptive cruise control system according to claim 1.